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NASA NTRS1976

Mission description

The Apollo Soyuz mission was the first manned space flight conducted jointly by two nations. The United States and the U.S.S.R. achieved a substantial degree of success in: (1) obtaining flight experience for rendezvous and docking of manned spacecraft and developing a docking system that would be suitable for use as a standard international system, (2) demonstrating in-flight intervehicular crew transfer, and (3) conducting a series of science and applications experiments. The Apollo and Soyuz spacecraft, with minor exceptions, were similar to those flown on previous missions, but a new Apollo module, the docking module, was built specifically for this mission. The mission started with the Soyuz launch on July 15, 1975, followed by the Apollo launch on the same day. Docking of the two spacecraft occurred on July 17, and joint operations were conducted for 2 days. Both spacecraft landed safely and on schedule; the Soyuz landing in the U.S.S.R. occurred on July 21, and the Apollo landing near Hawaii occurred on July 24. Twenty-eight science experiments were performed during the mission.

Hardee, S. N.↗

NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

The Gateway Program has made substantial design and development progress toward delivering a small, human-tended lunar space station purposefully designed to enable sustainable human exploration. The Program integrates partners and providers organizationally and physically as part of the spacecraft. The Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO) with the European System Providing Refueling, Infrastructure and Telecommunications (ESPRIT) HALO Lunar Communications System (HLCS) have begun manufacturing the long lead components and will be launched first as a Co-Manifested Vehicle (CMV). The International Habitat (I-Hab) and ESPRIT Refueling Module (ERM) are passing life cycle milestones and include capabilities key for human crewmembers, such as windows, private sleeping quarters, and galley functions. The Logistics Module (LM) may provide a variety of services to Gateway depending on each mission. Requirements for the airlock have been developed, including requests that it support the integrated spacecraft with functions like augmenting heat rejection capabilities, and interfaces with new spacesuits will soon be developed in more detail. As a critical element of the architecture for solar system exploration, Gateway implements key tenets and features of international interoperability standards necessary to operate with multiple visiting vehicles and lunar assets, especially avionics, communications, and docking. Specific choices such as software architecture and standards, power standards, and robotics standards make it possible to utilize heritage or proprietary technology, yet still operate as one spacecraft. Engineering teams are evaluating many possible future missions to be executed at or utilizing the Gateway. The system architecture protects for an evolvable, extensible, and flexible capability. Designing systems robust enough to serve as a cornerstone of exploration activities for decades while remaining adaptable is not without its challenges. The detailed integration activities have revealed challenges and the need to mature key technologies. Refueling is a key component of achieving long life for Gateway, with unique operations to plan, safety concerns to mitigate, and risk reduction activities to conduct to better understand the system. The constraints and impacts of the design of visiting vehicles is also an important concern, with orientation constraints, control of attitude and orbit of the Gateway with docked visiting vehicles. Tradeoffs between robust maintainable systems and lightweight, compact systems must be balanced. Opportunities still exist for adding additional advanced capabilities to increase and extend Gateway’s benefits, such as intravehicular robotics, autonomous Guidance Navigation and Control (GN&C), and augmented control propulsion, heat rejection, or other services.

Molly S Anderson↗

NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

Molly S Anderson↗

NASA NTRS1991

Guideline requirements for serviceable spacecraft grasping/berthing/docking interfaces based on simulations and flight experience (survey paper)

As space vehicles and structures become larger and more complex, the development of systems to assist humans in assembling, operating, maintaining, and performing space rescue or retrieval of these vehicles and structures becomes increasingly important. With the diversity of international spacecraft, both manned and unmanned, planned to be in orbit in the future, a set of guidelines for berthing and docking subsystems is mandatory if servicing, resupply, and retrieval is to become practical on an international level. Successful interaction between these space systems and ground and/or space-based humans requires standardized and effective operational interface designs, particularly with respect to space grasping/berthing/docking interface mechanisms. This paper defines the spacecraft mechanical interfaces necessary to create a standard dynamic envelope for joining two free-flying spacecraft in a 'hard' berth or dock with each other in space. A review was made of past space flights and dynamics simulations dating back to 1962 to obtain necessary parameters and their values for successful manually controlled and autonomous spacecraft docking/berthing. The various spacecraft docking/berthing mechanisms and concepts are illustrated along with their dynamic capture and impact tolerances including maximum contact velocity along the approach axis and in the y-z plane; capture linear misalignment tolerances; and maximum capture roll, pitch, and yaw angles. From this data sets of recommended guidelines parameters were developed for autonomous and manual impact docking tolerances, non-impact grasping/berthing tolerances (end effectors), berthing contact conditions, and alignment tolerances after rigidizing. Also, detailed requirements were developed for mechanical design interface features, as well as latching, unlatching, and separation tolerances. This data was drafted in the form of a proposed ANSI Standard guideline, reviewed, and added to by members of the committee representing several spacecraft manufacturers, NASA, and the USAF, and a consensus was reached.

Thompson, Allen B.↗

NASA NTRS2009

International Docking Standardization NASA

This slide presentation reviews the different types of docking types. The objective is the pressurized vehicle connection and crew transfer. Androgynous Docking is defined as the joining or coming together of two free flying space vehicles with alike interfaces. Androgynous mating allows for collaboration between any two vehicles. The subsytems of an androgynous mating system are reviewed, including: Hard docking subsystems: latch system, tunnel housing, alignment system and seal.

Donahoe, Stanley↗

NASA NTRS1983

A FMCW Radar Ranging Device for the Teleoperator Maneuvering System

A frequency-modulated continuous wave radar system is under development in the Communications Systems Branch of the Information and Electronic Systems Laboratory at Marshall Space Flight Center. The radar unit is being designed for use on the teleoperator maneuvering system. Its function is to provide millimeter-level accuracy in range and range rate measurements out to a range of thirty meters. This will facilitate soft docking with accuracy. This report is an updating of previous developments reported on this system. An innovation in the system is the utilization of a standard reference signal generated by shunting a portion of the radar energy into a shorted coaxial delay line. The regular radar target return signal is constantly compared with the reference signal to provide internal error compensation. Within a five meter range, a limit imposed by present laboratory dimensions, the radar system exhibits reliable accuracy with range error less than 0.2%.

Mcdonald, M. W.↗

NASA NTRS1999

STS-96 Mission Highlights

In this third part of a three-part video mission-highlights set, spacecrew operations between the STS-96 Space Shuttle Orbiter Discovery and the International Space Station, as well as STS reentry and landing is reviewed. The flight crew consists of Kent V. Rominger, Commander; Rick D. Husband, Pilot; and Mission Specialists Ellen Ochoa, Tamara E. Jernigan, Daniel T. Barry, Julie Payette (Canadian), and Valery Ivanovich Tokarev (Russian). The primary goals of this mission were to work on logistics and resupply the International Space Station. This third part of the three part series includes footage from Flight Days 8-11 (FD 8-11) of the mission. FD 8 includes the crew members moving the last items from Discovery into the International Space Station (ISS), closing the final hatch on the orbiting outpost and commanding a series of 17 pulses of Discovery's reaction control system jets to boost the station's orbit. Discovery undocks from the station, performs a 2 1/2 lap flyaround of the station, before Husband fires Discovery's jets in a final burst to move Discovery away from the station, concluding six days of docked operations. After the flyaround, Husband fires Discovery's jets to depart the station's vicinity. Beginning FD 9, as Discovery departs from the station, Mission Specialists Tammy Jernigan and Dan Barry pack away the space suit gear they used during their spacewalk early in the mission, while Commander Kent Rominger and Pilot Rick Husband practice landings on a laptop computer program. Mission Specialists Julie Payette and Valery Tokarev help to stow gear and repressurize the shuttle's cabin to its standard 14.7 pounds per square inch. The crew also readies to deploy a small, student-built payload called STARSHINE (Student Tracked Atmospheric Research Satellite for Heuristic International Networking Equipment). In and around landing preparations and the STARSHINE deploy, the crew stowe all equipment used throughout the mission. The STARSHINE satellite ejects from a canister in Discovery's payload bay on FD 10. FD 11 is completed as Discovery swoops out of the darkness as Commander Kent Rominger sets the shuttle and his crewmates down on Runway 15 at the Shuttle Landing Facility in Florida to successfully complete the first shuttle mission of the year. Several different views of the landing are highlighted in the video.

Source record↗

DOE OSTI2020

Future Vision for Autonomous Ocean Observations

Autonomous platforms already make observations over a wide range of temporal and spatial scales, measuring salinity, temperature, nitrate, pressure, oxygen, biomass; and many other parameters. However, the observations are not comprehensive. Future autonomous systems need to be more affordable, more modular, more capable and easier to operate. Creative new types of platforms and new compact, low power, calibrated and stable sensors are under development to expand autonomous observations. Communications and recharging need bandwidth and power which can be supplied by standardized docking stations. In situ power generation will also extend endurance for many types of autonomous platforms, particularly autonomous surface vehicles. Standardized communications will improve ease of use, interoperability, and enable coordinated behaviors. Improved autonomy and communications will enable adaptive networks of autonomous platforms. Improvements in autonomy will have three aspects: hardware, control, and operations. As sensors and platforms have more onboard processing capability and energy capacity, more measurements become possible. Control systems and software will have the capability to address more complex states and sophisticated reactions to sensor inputs, which allows the platform to handle a wider variety of circumstances without direct operator control. Operational autonomy is increased by reducing operating costs. To maximize the potential of autonomous observations new standards and best practices are needed. In some applications, focus on common platforms and volume purchases could lead to significant cost reductions. Cost reductions could enable order-of-magnitude increases in platform operations and increase sampling resolution for a given level of investment. Energy harvesting technologies should be integral to the system design, for sensors, platforms, vehicles, and docking stations. Connections are needed between the marine energy and ocean observing communities to coordinate among funding sources, researchers, and end users. Regional teams should work with global organizations such as IOC/GOOS in governance development. International networks such as EGO for the emerging glider operations should also provide a forum for addressing governance. Networks of multiple vehicles can improve operational efficiencies and transform operational patterns. There is a need to develop operational architectures at regional and global scales to provide a backbone for active networking of autonomous platforms.

47 OTHER INSTRUMENTATION↗

NASA NTRS1991

Guideline requirements for serviceable spacecraft grasping/berthing/docking interfaces based on simulations and flight experience

The described efforts support a NASA Space Assembly and Servicing Working Group activity to draft guideline interface standards. The general requirements are to provide a simple, reliable, and durable system. Interface requirements developed include lateral position offset, axial and lateral velocities, and angular misalignment. A survey of concepts and simulation studies of spacecraft docking, existing docking/end effector performance criteria, and space proven, qualified docking data was conducted and evaluated, in order to provide recommended mechanical interface guidelines and interface tolerances for manual and autonomous capture operations. The criterion for the selection of the guidelines was maximum capability to handle malfunctions. Originally the guidelines for a zero velocity docking were considered to be covered within the grasping/berthing definition. It is acknowledged that perhaps a separate category needs to be established for this operation. The draft standard was delivered to the AIAA for review, revision, and issuance as the first U.S. national standard guideline on interfaces. The intent is to develop the guidelines into an International Standards Organization standard.

Thompson, Allen B.↗

NASA NTRS2019

A Comparison of ARTEMIS Data with the Lunar Plasma Design Environment for NASA Crewed Missions

NASA’s Gateway will provide the capability for sustaining a human presence in cis-lunar space. Operations of the Gateway will include spacecraft dockings, extra vehicular activities (EVA), and high-power solar arrays. NASA’s experience with the International Space Station highlighted the importance of evaluating spacecraft charging effects for such operations. For crewed spacecraft, which tend to employ the use of dielectric surfaces in this dynamic plasma environment, reliance on spacecraft charging simulation packages, such as the NASA/Air Force Spacecraft Charging Analyzer Program (Nascap-2k) [Mandell et al., 2006] and Spacecraft Plasma Interaction System (SPIS) [Roussel et al., 2008], is required to understand the risks to hardware and humans. The variability in the lunar plasma environment as the Moon revolves around the Earth, lunar wake effects, and a strong dependency on photoemission and secondary electron emission creates challenges for spacecraft charging analysis. The Design Specification for Natural Environments (DSNE) [NASA, MSFC] is the primary resource for space environments affecting NASA’s crewed missions, and the DSNE provides plasma environments in a standard form for input into simulation packages. NASA developed the existing lunar plasma environment using data from Geotail [Nishida, 1994] along with published lunar plasma wake models [Halekas et al., 2005] based on Lunar Prospector. Since 2011, NASA’s twin Acceleration Reconnection Turbulence & Electrodynamics of Moon’s Interaction with the Sun (ARTEMIS) satellites [Angelopoulos, 2010] have been collecting high resolution plasma and fields observations within the lunar plasma environment providing a much larger dataset of the plasma properties in cislunar space. This research compares the existing lunar plasma environment definition with ARTEMIS data and makes recommendations on the refinement of the environment definition for future lunar missions.

ARTEMIS mission↗

NASA NTRS1996

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Dumas, Joseph D.↗

NASA NTRS2007

Programmable Thermostats for MPLM Shell Heater Control ULF1: Thermal Performances - 1

The Multi-Purpose Logistics Module (MPLM) is the primary carrier for "pressurized" logistics to and from the International Space Station (ISS). The MPLM is transported in the payload bay of the Space Shuttle and is docked to the ISS for unloading, and reloading, of contents within the ISS shirt sleeve environment. Foil heaters, controlled originally with bi-metallic thermostats, are distributed across the outside of the MPLM structure and are utilized to provide energy to the structure to avoid exposure to cold temperatures and prevent condensation. The existing bi-metallic, fixed temperature set point thermostats have been replaced with Programmable Thermostats Modules (PTMs) in the Passive Thermal Control Subsystem (PTCS) 28Vdc shell heater circuits. The goal of using the PTM thermostat is to improve operational efficiency of the MPLM on-orbit shell heaters by providing better shell temperature control via feedback control capability. Each heater circuit contains a programmable thermostat connected to an external temperature sensor, a Resistive Temperature Device (RTD), which is used to provide continuous temperature monitoring capability. Each thermostat has programmable temperature set points and control spans. The data acquisition system uses a standard RS-485 serial interface communications cable to provide digital control capability. The PTM system was designed by MSFC, relying upon ALTEC support for their integration within the MPLM system design, while KSC performed the installation and ground checkout testing of the thermostat and RS-485 communication cable on the MPLM FM1 flight module. The PTMs were used for the first time during the STS-121/ULF1.1 mission. This paper will describe the design, development and verification of the PTM system, as well as the PTM flight performance and comparisons with SINDA thermal model predictions.

Glasgow, Shaun↗

NASA NTRS2018

The Evolution of Payload Data Capabilities on the Commercial Visiting Vehicles that Service the International Space Station

For over 10 years, NASA has been working with U.S.-based commercial companies to support the design, development, and operations of new commercial space vehicles. The purpose of these vehicles is to provide cargo and crew transportation services to the International Space Station (ISS) and to stimulate the commercial space transportation industry to Low-Earth Orbit (LEO). Along with the ability to provide a couple tons of cargo to the ISS each mission, the commercial visiting vehicles also provide the ability to transfer NASA payloads to and from the ISS in an active, powered state. To take advantage of this capability, NASA requirements for the data services that payloads need while they are integrated into the visiting vehicles have grown with each set of commercial contracts. Today, NASA desires for payload data services encompass a variety of capabilities including payload health and status (H&S) telemetry monitoring, visiting vehicle environment data monitoring, and payload commanding. The intent of these capabilities is to provide payload developers with situational awareness and the ability to quickly diagnose any problems with payload operations prior to vehicle docking or post-landing to support immediate troubleshooting response. As new requirements for payload data services have emerged over the years, the ISS Payload Operations Integration Center (POIC) at the NASA Marshall Space Flight Center (MSFC) has established ground segment interfaces to the visiting vehicle control centers to enable payload developers to use these services. Many technical and programmatic challenges have been faced while establishing these interfaces. The most significant challenge faced has been in finding the right balance amongst providing interfaces to payloads that are compatible with the ISS so that payload hardware or software changes are not necessary to ensure compatibility with the visiting vehicles; keeping POIC ground system development costs low by standardizing implementation approaches across commercial vehicle partners; and fostering commercialization through supporting vendor-unique implementations that are commercially economical. This paper will first detail the data services that will be available to payload users under each commercial visiting vehicle contract. Secondly, this paper will offer discussion of the most significant technical and programmatic challenges faced to-date in offering these new data services to payload developers.

Wiggins, Lindsay M.↗

NASA NTRS2014

SpaceCube v2.0 Space Flight Hybrid Reconfigurable Data Processing System

This paper details the design architecture, design methodology, and the advantages of the SpaceCube v2.0 high performance data processing system for space applications. The purpose in building the SpaceCube v2.0 system is to create a superior high performance, reconfigurable, hybrid data processing system that can be used in a multitude of applications including those that require a radiation hardened and reliable solution. The SpaceCube v2.0 system leverages seven years of board design, avionics systems design, and space flight application experiences. This paper shows how SpaceCube v2.0 solves the increasing computing demands of space data processing applications that cannot be attained with a standalone processor approach.The main objective during the design stage is to find a good system balance between power, size, reliability, cost, and data processing capability. These design variables directly impact each other, and it is important to understand how to achieve a suitable balance. This paper will detail how these critical design factors were managed including the construction of an Engineering Model for an experiment on the International Space Station to test out design concepts. We will describe the designs for the processor card, power card, backplane, and a mission unique interface card. The mechanical design for the box will also be detailed since it is critical in meeting the stringent thermal and structural requirements imposed by the processing system. In addition, the mechanical design uses advanced thermal conduction techniques to solve the internal thermal challenges.The SpaceCube v2.0 processing system is based on an extended version of the 3U cPCI standard form factor where each card is 190mm x 100mm in size The typical power draw of the processor card is 8 to 10W and scales with application complexity. The SpaceCube v2.0 data processing card features two Xilinx Virtex-5 QV Field Programmable Gate Arrays (FPGA), eight memory modules, a monitor FPGA with analog monitoring, Ethernet, configurable interconnect to the Xilinx FPGAs including gigabit transceivers, and the necessary voltage regulation. The processor board uses a back-to-back design methodology for common parts that maximizes the board real estate available. This paper will show how to meet the IPC 6012B Class 3A standard with a 22-layer board that has two column grid array devices with 1.0mm pitch. All layout trades such as stack-up options, via selection, and FPGA signal breakout will be discussed with feature size results. The overall board design process will be discussed including parts selection, circuit design, proper signal termination, layout placement and route planning, signal integrity design and verification, and power integrity results. The radiation mitigation techniques will also be detailed including configuration scrubbing options, Xilinx circuit mitigation and FPGA functional monitoring, and memory protection.Finally, this paper will describe how this system is being used to solve the extreme challenges of a robotic satellite servicing mission where typical space-rated processors are not sufficient enough to meet the intensive data processing requirements. The SpaceCube v2.0 is the main payload control computer and is required to control critical subsystems such as autonomous rendezvous and docking using a suite of vision sensors and object avoidance when controlling two robotic arms.

Xilinx FPGA↗

NASA NTRS2012

SRMS Assisted Docking and Undocking for the Orbiter Repair Maneuver

As part of the Orbiter Repair Maneuver (ORM) planned for Return to Flight (RTF) operations, the Shuttle Remote Manipulator System (SRMS) must undock the Orbiter, maneuver it through a complex trajectory at extremely low rates, present it to an EVA crewman at the end of the Space Station Remote Manipulator System to perform the Thermal Protection System (TPS) repair, and then retrace back through the trajectory to dock the Orbiter with the Orbiter Docking System (ODS). The initial and final segments of this operation involve the interaction between the SRMS, ISS, Orbiter and ODS. Previously, a technique entitled "SRMS assisted docking" for installation of a payload to the ODS had been developed and was utilized for the Russian provided Docking Module on STS-74 during Shuttle-Mir missions and both the Node 1 and FGB elements on STS-88/Flight 2A. This procedure consisted of the SRMS grappling the respective payload, maneuvering it to a pre-install position inches above the ODS Androgynous Peripheral Attachment System (APAS) ring, commanding the SRMS into Test mode (which allows brakes-off motion of the joints), and then down-firing Primary Reaction Control System (PRCS) jets in order to effect a capture of the APAS latches. Once a successful capture had been achieved, then the AP AS was operated through its nominal retraction sequence to complete the mating sequence. While this technique can once again be used for the tail end docking portion of the ORM, the initial undocking of the orbiter and ISS vehicles with the assistance of the SRMS has yet to be attempted on orbit. The objective here is to determine the most efficient means to separate or extract the vehicles. Two techniques were analyzed in support of RTF: (1) the 'nominal' demating from the mated interface, and (2) the SRMS performing the operation (either in an active or passive fashion). In the first operation, the demating process would replicate standard undocking operations, with the exception that the SRMS is allowed to arrest the resulting motion. The second operation would be to extend the APAS ring to a ready to dock position, open the capture latches, and then detach the vehicles using the SRMS either actively or passively. In the active case, the APAS ring is extended and latched, and the SRMS is commanded to pull the two interfaces apart (assuming that the effective pull force of the SRMS can overcome the spec values of the combined latch resistance). In the passive case, the SRMS brakes are engaged and the AP AS mechanism is commanded to retract, pulling the two interfaces apart. Since the emphasis of both STS-74 and STS-88 had solely been on the installation operation, as opposed to the separation operation, two new models required development and incorporation within simulation tools designed to analyze those scenarios. These enhancements included: (1) a detailed demating dynamics model to characterize the pusher spring characteristics during undocking, and (2) contact and mechanical system modeling of the back side of the latches to represent unlatching dynamics. This paper first provides an overview of the Monte-Carlo screening analysis for the installation (both nominal and contingency), including the variation of separation distance, misalignment conditions, SRMS joint/brake parameter characteristics, and PRCS jet combinations and corresponding thrust durations. The resulting 'optimum' solution is presented based on trade studies between predicted capture success and integrated system loads. This paper then discusses the upgrades to the APAS math model associated with the new SRMS assisted undocking technique and reviews simulation results for various options investigated for either the active and passive separation of the ISS from the Orbiter.

Space Station Remote Manipulator System↗